6DOF IMU 25 Click

6DOF IMU 25 Click is a compact add-on board for biopotential signal detection and motion tracking applications. This board features the ST1VAFE6AX biosensor from STMicroelectronics, which combines a vertical analog front-end (vAFE) for biopotential sensing with a high-performance 6-axis IMU. The IMU features a 3-axis accelerometer and 3-axis gyroscope with adjustable full-scale ranges, along with advanced functionalities like finite state machine (FSM), adaptive self-configuration (ASC), and a machine learning core (MLC) for on-device processing. The board also includes a 4.5KB FIFO buffer for efficient data handling and supports I2C and SPI communication interfaces for easy integration.

Click Product page

Click library

• Author : Stefan Filipovic
• Date : Sep 2024.
• Type : I2C/SPI type

Software Support

We provide a library for the 6DOF IMU 25 Click as well as a demo application (example), developed using MikroElektronika compilers. The demo can run on all the main MikroElektronika development boards.

Package can be downloaded/installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Library Description

This library contains API for 6DOF IMU 25 Click driver.

Standard key functions :

• c6dofimu25_cfg_setup Config Object Initialization function.

  void c6dofimu25_cfg_setup ( c6dofimu25_cfg_t *cfg );

• c6dofimu25_init Initialization function.

  err_t c6dofimu25_init ( c6dofimu25_t *ctx, c6dofimu25_cfg_t *cfg );

• c6dofimu25_default_cfg Click Default Configuration function.

  err_t c6dofimu25_default_cfg ( c6dofimu25_t *ctx );

Example key functions :

• c6dofimu25_get_int1_pin This function returns the interrupt 1 pin logic state.

  uint8_t c6dofimu25_get_int1_pin ( c6dofimu25_t *ctx );

• c6dofimu25_get_data This function reads the accelerometer, gyroscope, and temperature measurement data.

  err_t c6dofimu25_get_data ( c6dofimu25_t *ctx, c6dofimu25_data_t *data_out );

• c6dofimu25_set_accel_fsr This function sets the accel measurement full scale range.

  err_t c6dofimu25_set_accel_fsr ( c6dofimu25_t *ctx, uint8_t fsr );

Example Description

This example demonstrates the use of 6DOF IMU 25 Click board by reading and displaying the accelerometer and gyroscope data (X, Y, and Z axis) as well as a temperature measurement in degrees Celsius.

The demo application is composed of two sections :

Application Init

Initializes the driver and performs the Click default configuration.

void application_init ( void )
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    c6dofimu25_cfg_t c6dofimu25_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    c6dofimu25_cfg_setup( &c6dofimu25_cfg );
    C6DOFIMU25_MAP_MIKROBUS( c6dofimu25_cfg, MIKROBUS_1 );
    err_t init_flag = c6dofimu25_init( &c6dofimu25, &c6dofimu25_cfg );
    if ( ( I2C_MASTER_ERROR == init_flag ) || ( SPI_MASTER_ERROR == init_flag ) )
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }

    if ( C6DOFIMU25_ERROR == c6dofimu25_default_cfg ( &c6dofimu25 ) )
    {
        log_error( &logger, " Default configuration." );
        for ( ; ; );
    }

    log_info( &logger, " Application Task " );
}

Application Task

Waits for a data ready indication and then reads the accelerometer, gyroscope, and temperature measurements. The results are displayed on the USB UART at 7.5 Hz output data rate.

void application_task ( void )
{
    c6dofimu25_data_t meas_data;
    if ( c6dofimu25_get_int1_pin ( &c6dofimu25 ) ) 
    {
        if ( C6DOFIMU25_OK == c6dofimu25_get_data ( &c6dofimu25, &meas_data ) )
        {
            log_printf( &logger, " Accel X: %.3f g\r\n", meas_data.accel.x );
            log_printf( &logger, " Accel Y: %.3f g\r\n", meas_data.accel.y );
            log_printf( &logger, " Accel Z: %.3f g\r\n", meas_data.accel.z );
            log_printf( &logger, " Gyro X: %.1f dps\r\n", meas_data.gyro.x );
            log_printf( &logger, " Gyro Y: %.1f dps\r\n", meas_data.gyro.y );
            log_printf( &logger, " Gyro Z: %.1f dps\r\n", meas_data.gyro.z );
            log_printf( &logger, " Temperature: %.2f degC\r\n\n", meas_data.temperature );
        }
    }
}

The full application code, and ready to use projects can be installed directly from NECTO Studio Package Manager(recommended way), downloaded from our LibStock™ or found on Mikroe github account.

Other Mikroe Libraries used in the example:

• MikroSDK.Board
• MikroSDK.Log
• Click.6DOFIMU25

Additional notes and informations

Depending on the development board you are using, you may need USB UART Click, USB UART 2 Click or RS232 Click to connect to your PC, for development systems with no UART to USB interface available on the board. UART terminal is available in all MikroElektronika compilers.